TWI668644B - Picking system and picking method - Google Patents

Abstract

A picking system and a picking method are provided by a data processing unit according to the position of the loading device and the loading amount of the loading device, so that when multiple loading devices simultaneously perform picking operations, The insert is assigned to the most suitable load device on site, allowing it to pick up the inserted goods.

Description

Picking system and picking method

The invention relates to a storage management device and method, in particular to a picking system and a picking method suitable for inserting work.

With the development of e-commerce, the speed and quantity of orders received by the warehousing system have grown substantially, resulting in the current warehousing management system constantly searching for the best picking path based on the order picking process.

However, the picking method of the conventional warehouse management system cannot effectively handle the insertion status, and it is often necessary to send a picker to pick up the goods of the inserted order, resulting in an increase in the cost of picking.

Moreover, in the process of picking goods, in the same picking site, there will often be more pickers in the same picking. If additional pickers are sent to the site to pick up the goods, the crowd will be crowded. Moved to the picker.

Therefore, how to overcome the various problems of the above-mentioned prior art has become a difficult problem to be overcome in the industry.

In view of the above-mentioned various deficiencies of the prior art, the present invention discloses a picking system comprising: a loading device that is displaced in a storage area in which a plurality of goods are placed for picking up the goods; electronic device and position The sensor is disposed on the load device; the position indicator is mounted on the walkway in the storage area; and the data processing unit provides the picking information to the electronic device to make the load device according to the pick The cargo information picks up the cargo, wherein the picking information includes a picking item list and a picking item position, and the picking item list is the item to be picked up by the loading device, and the original picking path planning is based on The picking information of the loading device, and the data processing unit plans the insertion picking path according to the remaining picking path of the current position of the loading device on the original picking path and the remaining loading amount of the carrying device .

In the foregoing picking system, the loading device such as a cart structure, a cage structure, etc., is not limited thereto.

In the foregoing picking system, the electronic device includes a position indicator that transmits the coordinate information by optical signals.

In the foregoing picking system, the electronic device includes a position sensor for transmitting the position signal of the load device to the data processing unit. For example, the storage area is configured with a position indicator to enable the position sensor to receive the coordinate signal of the position indicator, and use the coordinate signal as the position signal. Further, the position sensor is light-sensing the coordinate information of the position indicator.

In the foregoing picking system, the electronic device for transmitting the picking information includes a display for displaying the picking information; or a voice transmitter for transmitting the picking information by voice; or the electronic The device transmits the picking information in other aspects.

In the foregoing picking system, the data processing unit is constructed with a coordinate distribution information map, and the map is constructed according to the position of the goods in the storage area.

In the foregoing picking system, the data processing unit is configured in the server.

In the foregoing picking system, the planning of the picking path is based on the picking mode of the loading device.

The present invention discloses a picking method, comprising: providing a data processing unit in a storage area, wherein the storage area is to place a plurality of goods, and a plurality of position indicators are installed on the walkway in the storage area; The material device is displaced in the storage area, and the loading device returns the (current position) coordinate information of the position indicator to the data processing unit; the first processing information is provided by the data processing unit to enable the The loading device picks up the cargo according to the first picking information, wherein the first picking information includes a first pick item list and a first item position; and the data processing unit receives at least one second pick a list of items for causing the data processing unit to plan a second picking path based on the locations of the load devices and the load capacity of the load devices; and indicating at least the load devices by the data processing unit The one picks up the goods according to the second picking information, wherein the second picking information includes the first pick item list, the second pick item list and the second item position.

In the foregoing picking method, the first pick item list is a master order, and the second pick item list is a plug-in.

In the foregoing picking method, the electronic devices are provided on the load devices to receive the first and/or second picking information.

In the above picking method, the load device is provided with a position sensor, and the storage area is provided with a position indicator for the position sensor to receive the coordinate signal of the position indicator, and then the coordinate signal is The data is passed to the data processing unit. For example, the position sensor is light-sensing the coordinate information of the position indicator.

In the foregoing picking method, the data processing unit constructs a coordinate distribution information map, and the map is constructed according to the position of the goods in the storage area.

In the foregoing picking method, the planning of the first or second picking path is based on the picking manner of the loading devices. For example, the picking method of the load devices is for picking up the goods placed in the high or low places in the storage area.

In the foregoing picking method, the positions of the load devices are the relative positions of the goods on the second pick item list in the direction of the first pick item position.

In the foregoing picking method, the loading amount of the load carrying devices is the quantity of the goods that have not been picked up by the first picking item list.

As can be seen from the above, in the picking system and the picking method of the present invention, the position information of the position indicator of the storage area is received by the position sensor of the electronic device, and the data of the coordinate signal is transmitted to the data. The processing unit enables the data processing unit to instantly know the location of the loading device, and at the same time, the data processing unit formulates a picking path according to the position of the loading device and the loading amount of the loading device, so as to When the loading device performs the picking operation at the same time, the insert can be assigned to the most suitable loading device on the site, so that it can pick up the goods of the inserted order without the need to send more pickers to pick up the inserted goods, thereby avoiding The crowded people at the picking site are not conducive to the problem of picking the goods.

The other embodiments of the present invention will be readily understood by those skilled in the art from this disclosure.

It is to be understood that the structure, the proportions, the size, and the like of the present invention are intended to be used in conjunction with the disclosure of the specification, and are not intended to limit the invention. The conditions are limited, so it is not technically meaningful. Any modification of the structure, change of the proportional relationship or adjustment of the size should remain in this book without affecting the effects and the objectives that can be achieved by the present invention. The technical content disclosed in the invention can be covered. In the meantime, the terms "upper", "before", "after", "left", "right" and "one" as used in this manual are for convenience only and are not intended to be limiting. The scope of the invention can be implemented, and the change or adjustment of the relative relationship is considered to be within the scope of the invention.

The module, the unit, the device, and the like of the present invention include a microprocessor and a memory, and algorithms, data, programs, etc. are stored in a memory or a chip, and the microprocessor can load data or an algorithm or a program from the memory. Processing such as data analysis or calculation will not be repeated here. For example, the loading device, the electronic device, the position indicator, the server, the data processing unit, and the like of the present invention include a microprocessor, a memory, and the like, and each device and each unit perform an analysis operation thereby, and thus the present invention The hardware or structure of the unit or device or module can also be implemented in the same manner.

As shown in FIG. 1, the picking system 1 of the present invention comprises: at least one loading device 10, an electronic device 11 disposed on the loading device 10, and a position indicator disposed on the aisle of the storage area S. 11b and a data processing unit disposed in the server 12.

The loading device 10 is for displacement in a storage area S, wherein the storage area S is provided with a plurality of goods 9. For example, the storage area S is a warehouse, and the array is arranged with a plurality of shelves 8, and the shelf 8 is laterally designed with a plurality of cells 81, 82, 83 and a plurality of placement layers 80a are arranged between the upper and lower sides. , 80b, 80c, to place the goods 9 on the placement layers 80a, 80b, 80c at the high and low places as required.

In the present embodiment, the load device 10 is, for example, a cart structure or a cage structure that moves on the floor 6 of the storage area S.

Furthermore, the load device 10 is provided with a position sensor 11a for causing the data processing unit of the server 12 to acquire the position signal a of the load device 10. For example, the walkway of the storage area S (such as the passage between the two shelves 8) is provided with a plurality of position indicators 11b for the position sensor 11a to receive the coordinate signal b of the position indicator 11b (as shown in FIG. 2A). The data content of the coordinate signal b is used as the data content of the location signal a, and the location signal a is provided to the data processing unit of the server 12 via the electronic device 11 for related operation processing.

Moreover, the position indicator 11b is, for example, an illumination electronic device (such as the configuration of FIG. 2C, which will be described later in detail) for illuminating and transmitting a communication message, wherein the illumination electronic device is activated to transmit a coordinate communication message (eg, The coordinate signal b), the position sensor 11a receives the coordinate communication message, and the position indicator 11b and the position sensor 11a are used as hardware of a Visible Light Communications (VLC) system. For example, the position indicator 11b is a light-emitting member such as an LED lamp, and the position sensor 11a is a light-sensing sensor.

In addition, the position indicator 11b is mounted on the ceiling 7 of the walkway of the storage area S, and maintains the starting state during the picking operation, so whether or not the load device 10 passes under the position indicator 11b, The position indicator 11b continues to be in a light-emitting state.

The electronic device 11 is configured to receive the coordinate signal b by using visible light, and convert the coordinate signal b into the position signal a to be transmitted to the data processing unit of the server 12.

In this embodiment, the electronic device 11 is a portable mobile computer, such as a personal digital assistant (PDA), a tablet, a smart phone, or the like, and the human-machine interface is used. Displays information about the picking operation for the picker to know about the picking operation. Figure 2B shows the supply elements corresponding to the relevant information.

Moreover, according to the configuration of the human machine interface shown in FIG. 2B, the electronic device 11 includes a display 110 for displaying the picking information c from the data processing unit of the server 12 (as shown in FIG. 1). For the picker to know the picking information c. Specifically, the display 110 displays the information of the goods 9 on the man-machine interface (such as the number of the goods 9, the position of the shelf 8, the placement of the goods 9, 81, 83, 83, the placement layer 80a, 80b, 80c horizon or other information, etc.). The data processing unit of the server 12 calculates the position of the pick item or the position of the load device 10 according to the information of the coordinate signal b of the position indicator 11b (if the load device 10 is located in the placement box 81) Below the position indicator 11b, the load device 10 needs to be moved until the cargo 9 is located below the position indicator 11b corresponding to the placement grid 83, etc., and the moving direction of the load device 10 is displayed (as before, Rear, left, right and other linear or diagonal directions, and the direction of the stop line). It should be understood that in another embodiment, the electronic device may further include a voice transmitter (not shown) that transmits the picking information c from the data processing unit to the picker in a voice manner.

Moreover, according to the configuration of the human-machine interface shown in FIG. 2B, the electronic device 11 is repeatedly configured with a receiver, a decoder, an intermediary software, and a communication module. The receiver is used for visible light signal sensing to receive the coordinate signal b, and the signal receiving state is displayed on the human machine interface of the electronic device 11.

The decoder is a decoding program of an optical image communication (OCC), which decodes the coordinate signal b to be converted into a standard value (ie, the position signal a), and the coordinate value is displayed. At the man-machine interface.

The middleware is used to operate related operations in the electronic device 11, and the operating state of the electronic device 11 is displayed on the human machine interface.

The communication module is, for example, a network communication, for transmitting the coordinate value (ie, the position signal a) to the data processing unit of the server 12, and receiving the data processing unit from the server 12 The goods information c, and the network connection status will be displayed on the man-machine interface.

In addition, it should be understood that the position sensor 11a can be disposed on the electronic device 11 (for example, the position sensor 11a serves as the receiver), so that the intermediary software directly directly displays the coordinate signal b of the position indicator 11b. Converted to the position signal a.

As shown in FIG. 2C, the position indicator 11b is an illumination electronic device having a firmware execution circuit and a light-emitting circuit. For example, the coding module encodes the coordinate value by executing a code in the firmware through a processor. A control signal is generated, and the optical driving module is corresponding to an LED driving circuit, which is configured to receive the control signal and drive a lighting module, and the encoding module and the optical driving module can be used as the LED light. The signal control unit of the code coordinate.

The server 12 shown in FIG. 1 is, for example, a computer host or a cloud unit, which is disposed in the control room Z and transmits the electronic device 11 in the storage area S by remote communication.

The data processing unit provides the picking information c to the electronic device 11, and the picking information c includes a pick item list (such as the cargo information shown in FIG. 2B) and a pick item position (eg, Item number n1~n9) shown in FIG. 3A, so that the loading device 10 picks up the required goods 9 according to the pick item list and the pick item position, wherein the pick item list is The cargo device 10 is required to pick up the cargo 9 and the data processing unit plans a picking route according to the position of the cargo device 10 and the cargo capacity of the cargo device 10.

In this embodiment, the data processing unit is configured with a map P corresponding to the coordinate distribution information of the storage area S, as shown in FIG. 3A, and the construction of the map P is based on the goods 9 in the storage area S. position. For example, the channel 20 for moving the loading device 10 is defined by the positions of the shelves 8, and the fixed position D of the channel 20 is defined by the coordinate information of the position indicator 11b (as shown in FIG. 3A). a square, which can correspond to the compartments 81, 82, 83) of the cargo 9, so that when the loading device 10 is at the fixed position D, the position sensor 11a can receive the position indicator 11b. The coordinate signal b is further converted into the position signal a via the electronic device 11 for transmission to the data processing unit of the server 12, so that the data processing unit can immediately know the location of the load device 10. .

Furthermore, the planning of the picking path is based on the Dijkstra's algorithm to dynamically update the Hamiltonian path. Specifically, the map P of FIG. 3A and the goods 9 of its main order (its item number n1 to n9) are converted into a Hamiltonian diagram (ie, a directed graph) shown in FIG. 3A', and the use of Dykes The Trajectory algorithm obtains a variety of feasible picking paths (such as the direction of the arrow shown in Figure 3A'); when the data processing unit processes the inserting operation (such as the inserted goods 9' shown in Figure 3B, its product In item number e1~e3), the Hamiltonian diagram shown in Fig. 3A' is updated to the Hamiltonian diagram shown in Fig. 3B', and a variety of feasible picking paths are obtained by using the Dexter algorithm (eg, 3B' arrow direction shown).

Therefore, since the Dexter algorithm is used to obtain a plurality of feasible picking paths (such as the arrow directions shown in FIGS. 3A' and 3B'), the data processing unit needs to be based on advantageous conditions, such as the loading device 10. The position and the amount of cargo of the load device 10 are selected to select the most suitable picking path L1, L2 (as shown in Figures 3A and 3B), as described below.

The position of the loading device 10 is the current position (such as the starting point) of the loading device 10 on the map P. Alternatively, if the data processing unit processes the interleaving operation (such as the goods 9' shown in FIG. 3B), the positions of the loading devices 10 are along the original picking path (such as the main order shown in FIG. 3A). The direction of the picking path L1) is advanced (by-way state) and the relative position of the cargo 9' on the insert is used to obtain the updated picking path L2 using the Dexter algorithm (as shown in FIG. 3B) ).

The cargo capacity of the loading device 10 is the quantity of goods that have not been picked up by the pick item list, that is, the remaining loading space of the loading device 10. For example, when the data processing unit plans the position of the pick item of the plurality of loading devices 10 according to the main order, the maximum loading space of each of the loading devices 10 may be different, so the data processing unit may be based on the picking item list. The size of the cargo 9 and the maximum loading space of each of the loading devices 10 define the picking path of each of the loading devices 10. Alternatively, if the data processing unit processes the inserting operation, the data processing unit may re-resize according to the size of the inserted goods 9' (as shown in FIG. 3B) and the remaining loading space of each of the loading devices 10. The picking path L2 of the load device 10 is developed (as shown in Fig. 3B).

In addition, the planning of the picking path can be selectively selected according to the picking mode of the loading device 10. For example, the loading device 10 is equipped for picking up heavy objects or light objects, and the equipment of the loading device 10. For picking up solids or fluids, the equipment of the load device 10 is used to pick up goods 9 or low level (low disposal layers 80a, 80b) of the high level (high disposal layer 80c) 9 or other items. . Specifically, for example, the cargo device 10 needs to pick up the cargo 9 of the high-level position (the high-treatment discharge layer 80c), and the cargo device 10 needs to be equipped with an auxiliary mechanism such as a lifting mechanism, a hook rod, a robot arm or the like.

Figure 4 is a diagram showing the picking method of the present invention. In this embodiment, the picking system 1 and its environment shown in FIG. 1 are provided, that is, an environment in which a data processing unit can be applied to a storage area S, wherein the storage area S is arranged in multiple rows. The shelves 8a, 8b, 8c, 8d, 8e of the plurality of goods 9 have been stored, and a plurality of loading devices 10a, 10b are provided (as shown in Fig. 5A, the structure thereof can be referred to the drawing shown in Fig. 2A It is configured in the storage area S to prepare for the picking operation.

As shown in FIG. 4, in step S40, the server 12 performs reconciliation for the received orders, such as taking orders and managing all orders by using a content management system (CMS), and then placing the orders. Assignment, for example, to break up the contents of each order and then group the same or similar goods into the same group according to the classification criteria (such as weight, size, type of goods). It should be understood that there is no particular limitation on the management and distribution of the content management system.

Next, in step S41, the data processing unit sorts out the first picking information according to the distribution result provided by the content management system (CMS), and provides the first picking information to each of the loading devices 10a, 10b.

In this embodiment, the first picking information item includes a first pick item list and a first pick item item position, wherein the first pick item list is a main list, as shown in FIG. 5A The main order of the group, the item code of one main order is r1~r9, and the item code of the other main order is t1~t8.

Moreover, each main order can obtain a variety of feasible picking paths by using the Dexter algorithm, so that the best picking can be made according to the shortest distance, the picking methods of the carrying devices 10a, 10b or other benchmarks. The path, for example, the direction of the solid arrow and the direction of the dotted arrow shown in FIG. 5A, wherein the item code of the carrier device 10a sequentially picking the goods along the direction of the solid arrow is r1, r2, r3, r5, r6, r4. , r7, r8, r9, and the other item device 10b sequentially picks up the item code of the goods in the direction of the dotted arrow as t1, t3, t2, t4, t5, t7, t6, t8.

Moreover, when the data processing unit organizes the first picking information, device setting may be performed, which may include configuration verification of each of the loading devices 10a, 10b, communication connection setting of the electronic device 11, or other picking before Related work, etc.

Next, in step S42, according to the first picking information displayed by the electronic device 11 (such as the item code of the goods 9 of the main order, the positions of the shelves 8a, 8b, 8c, 8d, 8e, the placing box 81, The position of 82, 83 or other information, etc., the pickers move the load devices 10a, 10b for picking operations.

In the present embodiment, when the picking operation is performed, the first picking path of the load carrying devices 10a, 10b passes the position indicator 11b to make the position indicator 11b, the electronic device 11 and the server 12 The data processing unit performs a positioning operation so that the picker can know the current position of the load devices 10a, 10b through the data processing unit.

Further, when the load devices 10a, 10b are moved to the place where the goods are to be picked up, the electronic device 11 displays an indication (such as stopping the advance) to cause the picker to pick up the goods.

Finally, in step S43, after the picking operation is completed, if the load devices 10a, 10b pick up all the items on the main list, the picker can move the load devices 10a, 10b to Check the area for acceptance to confirm the picking result.

In this embodiment, the processes of steps S40 to S43 can be changed or adjusted as needed, and are not limited to the above.

In addition, when the data processing unit receives at least one second pick item list (such as a rush order), the goods item of the second pick item list needs to be immediately inserted into at least one of the load devices 10a, 10b. In the picking information.

Therefore, the picking method of the present invention provides a flow of a plug-in operation, which is specifically described below.

As shown in FIG. 4, in step S50, the data processing unit receives at least one second pick item list (such as a plug-in). Then, in step S51, the data processing unit plans a second picking path and its corresponding second picking information according to the positions of the loading devices 10a, 10b and the loading capacity of the loading devices 10a, 10b. The second picking information item includes the first pick item list, the second pick item list, and the second pick item position.

In this embodiment, the item code of the goods of the second pick item list (such as the insert) is h1~h4 (see Figure 5B for details).

Furthermore, the data processing unit performs path analysis according to the current positions of the load devices 10a, 10b to determine the direction (shun path) along the direction of the first picking path corresponding to the position of the first pick item, and the current distance The relative position of the goods item on the second pick item list (such as the insert) (the distance that the channel can reach, not the absolute position of the straight line distance), that is, the distance in the backward direction is not considered. The relative position of the item of the inserted goods. For example, searching for the location of the first pick item item covers the item of the inserted item, or using a positioning operation to predict the position of the next one of the items 10a, 10b.

Moreover, the data processing unit further performs path analysis based on the load quantities of the load devices 10a, 10b to determine whether the load devices 10a, 10b have reached the pick limit. For example, the number of goods that have not been picked up by the load devices 10a, 10b for the first pick item list can be inferred by using the positioning operation, thereby knowing the remaining loading space of the load devices 10a, 10b or The quantity is loaded, so if the goods carrying device 10a, 10b has sorted out the required goods, or the size of the goods of the inserted order is too large, even if the carrying device 10a, 10b is closest to the goods of the inserted order, the data processing unit The position of the inserted goods will still not be planned as the picking path of the loading devices 10a, 10b. Further, the data processing unit may perform path analysis according to the picking manner of the load devices 10a, 10b. For example, the load devices 10a, 10b are used for picking up the storage area S and placing it in a high place. Or the way of goods in the lower part.

Therefore, the data processing unit designs a second picking path including the position of the goods of the insert according to the position of the load devices 10a, 10b and the cargo capacity of the load devices 10a, 10b (ie, Designing the picking information), in step S41, the first picking item list is updated to the second picking information for the loading device 10a, 10b of the item to be sorted, for example, one of the loading devices Code food items h1 10a of the intervening single-picking of goods, h2 (which is updated based on the link of the solid line arrow of FIG. 5B marked with _╳), while the other carrier device 10b picking up food items of code inserted into a single cargo h3, h4 (which is updated based on the first segment of a broken line arrow in FIG. 5B marked with _╳).

Then, in step S42, the data processing unit transmits the second picking information to the electronic device 11 to instruct the picker to push at least one of the loading devices 10a, 10b according to the second picking information. Pick up the goods (ie the goods of the main order and the inserted goods).

In summary, in the picking system of the present invention and the picking method thereof, the data processing unit is configured to formulate a picking path according to the position of the loading device and the loading amount of the loading device, so as to perform the insertion operation. In addition, not only can the picking information be updated in real time, but the order can be assigned to the most suitable loading device on the site, so that it can pick up the goods of the inserted order without the need to send more pickers to pick up the inserted goods. Avoid the problem of crowded people on the picking site and not help the picker move.

Furthermore, the present invention generates a coordinate signal by using a visible light communication technology of a position sensor of the electronic device and a position indicator of the storage area, and transmits the data of the coordinate signal to the data processing unit to make the data. The processing unit can immediately know the location of the load device as a reference for updating the picking information in real time.

The above embodiments are intended to illustrate the principles of the invention and its effects, and are not intended to limit the invention. Any of the above-described embodiments may be modified by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention should be as set forth in the appended claims.

1‧‧‧ Picking system

10,10a,10b‧‧‧Loading device

11‧‧‧Electronic devices

11a‧‧‧ position sensor

11b‧‧‧ position indicator

110‧‧‧ display

12‧‧‧Server

20‧‧‧ channel

6‧‧‧floor

7‧‧‧ ceiling

8,8a,8b,8c,8d,8e‧‧‧shelf

80a, 80b, 80c‧‧‧ placement layer

81,82,83‧‧‧

9,9’‧‧‧ Goods

A‧‧‧ position signal

B‧‧‧Coordinate signal

C‧‧‧ Picking Information

D‧‧‧Location

L1, L2‧‧‧ Picking path

Map of P‧‧‧

S‧‧‧Store area

Z‧‧‧Control room

S40-S43, S50-S51‧‧‧ steps

Figure 1 is a perspective view of the picking system of the present invention.

Figure 2A is a side elevational view of the loading device of the picking system of the present invention.

2B is a schematic view showing the configuration of an electronic device of the picking system of the present invention.

Figure 2C is a schematic view showing the configuration of the position indicator of the picking system of the present invention.

3A and 3B are schematic plan views of a map of a data processing unit of the picking system of the present invention.

The 3A' and 3B' diagrams are directed graphs of the 3A and 3B drawings.

Figure 4 is a schematic flow chart of the picking method of the present invention.

Figures 5A and 5B are schematic plan views of the picking path planning of the data processing unit of the picking system of the present invention.

Claims (11)

A picking system includes: a loading device that is displaced in a storage area in which a plurality of goods are placed for picking up the cargo, wherein the storage area is provided with a light-emitting member as a position indicator; The device is disposed on the loading device and includes a light sensing position sensor; and the data processing unit is configured to construct a map of coordinate distribution information, and the map is constructed according to the position of the goods in the storage area And providing the picking information to the electronic device, so that the loading device picks up the cargo according to the picking information, and causes the position sensor to optically receive the coordinate signal of the position indicator to make the coordinate signal As the position signal of the load device, and transmitting the position signal of the load device to the data processing unit, wherein the picking information information includes a pick item list and a pick item position, the pick item list is The cargo device is required to pick up the cargo, and the data processing unit is based on the location of the cargo device, the picking method of the cargo device, and the cargo capacity of the cargo device. Cargo paths to handle a single insertion operation. The picking system of claim 1, wherein the loading device is a cart structure or a cage structure. The picking system of claim 1, wherein the electronic device comprises a display for displaying and transmitting the picking information, or a voice transmitter for transmitting the picking information by voice. The picking system of claim 1, wherein the data processing unit is disposed in the server. The picking system of claim 1, wherein the data processing unit plans the picking path based on a method of dynamically updating the Hamiltonian graph based on the Dexter algorithm. A method of picking, including: Providing a data processing unit in a storage area, the data processing unit is configured to construct a map of coordinate distribution information, wherein the storage area is to store a plurality of goods, and the construction of the map is based on the goods in the storage area. a position, and the plurality of load devices are displaced in the storage area, the light-sensing position sensor is disposed on the load device, and the storage area is configured with a light-emitting member as a position indicator, so that the position sensor is The light sensing mode receives the coordinate signal of the position indicator, so that the coordinate signal is used as the position signal of the load device, and then transmits the data of the coordinate signal to the data processing unit; when processing the order work, the data is processed by the data The unit provides first picking information, so that the loading devices pick up the goods according to the first picking information, wherein the first picking information information includes a first pick item list and a first pick item position. And the first pick item list is a master list; when processing the plug-in job, the data processing unit receives at least one second pick item list, and the second pick The item list is a plug-in order for the data processing unit to plan the picking path according to the position of the load device, the picking mode of the load device and the loading capacity of the load devices, so that the data processing unit The unit processes the insertion operation; and the data processing unit instructs at least one of the load devices to pick up the goods according to the second picking information corresponding to the picking path, wherein the second picking information The first pick item list, the second pick item list, and the second pick item position are included. The picking method of claim 6, wherein the electronic device is provided on the load device to receive the first and/or second picking information. The picking method according to claim 6, wherein the data processing unit plans the picking path based on a method of dynamically updating the Hamiltonian graph based on the Dexter algorithm. The picking method according to claim 6, wherein the picking manner of the loading devices is a method for picking up goods placed in a high or low position in the storage area. The picking method of claim 6, wherein the positions of the loading devices are in the direction of another picking path corresponding to the first picking information, and the second picking product is located. The relative position of the goods on the item list. The method of picking according to claim 6, wherein the loading capacity of the loading devices is the quantity of the goods that have not been picked up by the first pick item list.